Linear actuator of humanoid robot

Abstract

The linear actuator of the humanoid robot comprises a servo electric cylinder and a limiting ring fixedly connected to the front end of the servo electric cylinder, a supporting ring is connected to the front side of the limiting ring in a sliding mode, a heat dissipation device is installed on the front side of the supporting ring, a through hole is formed in the surface of the heat dissipation device, and a through hole is formed in the surface of the through hole. A fixing assembly is arranged on the surface of the supporting ring, a limiting structure is arranged on the surface of the limiting ring, the semi-column rod is placed in the inner cavity of the round hole, then the semi-column rod is unfolded under the action of the spring piece, the surface of the limiting block is buckled by the inner cavity of the limiting groove, and then the heat dissipation device and the limiting ring are fixed. Therefore, the purpose of cooling the position of the output end of the servo electric cylinder to prolong the overall service life of the servo electric cylinder can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of humanoid robots, in particular to a linear actuator for a humanoid robot. Background Art

[0002] Linear actuators, also known as planetary roller screw actuators, are one of the mechanical devices that make robots move more smoothly and better balanced. They are integrated motion units that combine servo motors, reducers, screws, sensors, and drivers. They feature high precision and high load capacity, enabling precise speed control, position control, and force control. They are the core moving components of robots.

[0003] Since the servo electric cylinder has a large motion load, its output end will overheat under long-term motion. In order to dissipate heat at the output end and extend the overall service life of the servo electric cylinder, a humanoid robot linear actuator is designed. The device uses a heat dissipation device to dissipate heat at the output end during motion. The use of fixed components and limiting structures allows the heat dissipation device to be replaced in time when it is damaged, so that the output end can be cooled and the overall service life of the servo electric cylinder can be extended. Utility Model Content

[0004] The purpose of the utility model is to provide a humanoid robot linear actuator, which has the function of dissipating heat at its output end to extend the overall service life of the servo electric cylinder, thereby solving the above-mentioned background technical problems.

[0005] The technical solution of the utility model for solving the above-mentioned technical problems is as follows: A humanoid robot linear actuator, which includes a servo electric cylinder: a limiting ring fixedly connected to the front end of the servo electric cylinder, a support ring slidably connected to the front side of the limiting ring, a heat dissipation device installed on the front side of the support ring, a through hole provided on the surface of the heat dissipation device, a fixing component provided on the surface of the support ring, and a limiting structure provided on the surface of the limiting ring.

[0006] Preferably, the position of the limiting ring is close to the output end of the servo electric cylinder, and the fixing component includes a limiting cap close to the surface of the through hole, and the inner cavity of the limiting cap is rotatably connected to two half-columns.

[0007] Preferably, the half-columns are rotatably connected to the inner cavity of the through hole, a spring sheet is fixedly connected between the two half-columns, and limiting grooves are provided on the opposite sides of the two half-columns.

[0008] Preferably, the front end of the limiting cap is fixedly connected to a hexagonal block, a limiting piece is welded on the surface of the hexagonal block, and a positioning groove is provided on the surface of the limiting piece.

[0009] Preferably, the limiting structure includes a circular hole opened on the surface of the limiting ring, the circular hole is aligned with the position of the through hole, limiting blocks are welded on the left and right sides of the inner cavity of the circular hole, and shrinkage blocks are welded on the upper and lower sides of the inner cavity of the circular hole.

[0010] Preferably, the diameter of the combined half-columns is smaller than the distance between the two shrinkage blocks, the inner cavity of the limiting groove is engaged with the surface of the limiting block, and the surface of the half-column is rotatably connected to the shrinkage block.

[0011] The beneficial effects of the utility model are:

[0012] 1. The utility model places a half-column in the inner cavity of a circular hole, and then expands the half-column under the action of a spring sheet, and makes the inner cavity of the limit groove buckle the surface of the limit block, and then fixes the heat dissipation device and the limit ring, so that the output end can be cooled, thereby extending the overall service life of the servo electric cylinder;

[0013] 2. The utility model can conveniently screw the limit cap and the half-column by setting the hexagonal block, so that the half-column can be rotated faster in the inner cavity of the circular hole and the half-column can be removed;

[0014] 3. The utility model can display the rotation position of the half column rod by setting the positioning groove, which can make it more convenient for workers to perform maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] in:

[0016] Figure 1 This is a schematic front view of an embodiment of the utility model;

[0017] Figure 2 This is a schematic diagram of the main view splitting of an embodiment of the utility model;

[0018] Figure 3 This is a rear exploded schematic diagram of a limiting ring and a heat dissipation device according to an embodiment of the present invention;

[0019] Figure 4 This is a cross-sectional and disassembled schematic diagram of a limiting ring and a supporting ring according to an embodiment of the present invention;

[0020] Figure 5 This is a schematic diagram of a fixing assembly according to an embodiment of the present utility model;

[0021] Figure 6 This is an embodiment of the utility model Figure 4 A partial enlarged view of point A.

[0022] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0023] 1. Servo cylinder, 2. Limiting ring, 3. Support ring, 4. Heat dissipation device, 5. Through hole, 6. Fixing assembly, 61. Limiting cap, 62. Half column, 63. Spring sheet, 64. Limiting groove, 65. Hexagonal block, 66. Limiting sheet, 67. Positioning groove, 7. Limiting structure, 71. Round hole, 72. Limiting block, 73. Shrinkage block. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of a humanoid robot linear actuator of the present invention will be described with reference to the accompanying drawings. Example 1

[0025] Figure 1-6 The utility model shows a humanoid robot linear actuator of an embodiment of the present invention, which includes: a servo electric cylinder 1: a limit ring 2 fixedly connected to the front end of the servo electric cylinder 1, a support ring 3 is slidably connected to the front side of the limit ring 2, a heat dissipation device 4 is installed on the front side of the support ring 3, a through hole 5 is opened on the surface of the heat dissipation device 4, a fixing component 6 is provided on the surface of the support ring 3, a limiting structure 7 is provided on the surface of the limit ring 2, the limit ring 2 is located near the output end of the servo electric cylinder 1, the fixing component 6 includes a limit cap 61 close to the surface of the through hole 5, and the inner cavity of the limit cap 61 There are two half-columns 62 rotatably connected, and both half-columns 62 are rotatably connected to the inner cavity of the through hole 5. A spring sheet 63 is fixedly connected between the two half-columns 62. A limiting groove 64 is provided on the opposite sides of the two half-columns 62. The front end of the limiting cap 61 is fixedly connected with a hexagonal block 65. Through the setting of the hexagonal block 65, the limiting cap 61 and the half-column 62 can be easily screwed, so that the half-column 62 can be rotated faster in the inner cavity of the circular hole 71, and the half-column 62 can be removed. The limiting sheet 66 is welded on the surface of the hexagonal block 65. Example 2

[0026] Figure 1-6A humanoid robot linear actuator according to an embodiment of the present invention is shown, which includes: a servo electric cylinder 1: a limit ring 2 fixedly connected to the front end of the servo electric cylinder 1, a support ring 3 being slidably connected to the front side of the limit ring 2, a heat dissipation device 4 being installed on the front side of the support ring 3, a through hole 5 being provided on the surface of the heat dissipation device 4, a fixing component 6 being provided on the surface of the support ring 3, a limit structure 7 being provided on the surface of the limit ring 2, a positioning groove 67 being provided on the surface of the limit plate 66, through the setting of the positioning groove 67, the rotation position of the semi-column 62 can be displayed, which can make it more convenient for the staff to perform maintenance operations, the limit structure 7 includes a circular hole 71 provided on the surface of the limit ring 2, the circular hole 71 is aligned with the position of the through hole 5, the left and right sides of the inner cavity of the circular hole 71 are welded with limit blocks 72, the upper and lower sides of the inner cavity of the circular hole 71 are welded with shrinkage blocks 73, the diameter of the two semi-columns 62 after merging is smaller than the distance between the two shrinkage blocks 73, the inner cavity of the limit groove 64 is embedded with the surface of the limit block 72, and the surface of the semi-column 62 is rotatably connected to the shrinkage block 73.

[0027] Working principle: When using the present invention, the user fixes the limiting ring 2 at the position of the output end of the servo cylinder 1, then places the support ring 3 and the heat sink 4 together on the front side of the limiting ring 2, and aligns the position of the through hole 5 with the circular hole 71, then pinches the semi-column 62 and places it in the inner cavity of the through hole 5 and the circular hole 71, and then, under the action of the spring sheet 63, the semi-column 62 is unfolded, and the inner cavity of the limiting groove 64 is buckled with the surface of the limiting block 72, and then the support ring 3 and the limiting ring are aligned. 2 is fixed. When the heat sink 4 is damaged, the hexagonal block 65 is twisted to drive the half-column rod 62 to rotate in the inner cavity of the circular hole 71. At this time, the two half-column rods 62 are converged under the action of the contraction block 73. Then the half-column rod 62 is pulled out of the inner cavity of the through hole 5 and the circular hole 71, and then the support ring 3 and the heat sink 4 are removed from the front side of the limit ring 2. Then, the heat sink 4 is replaced in time, so that the output end can be cooled, thereby extending the overall service life of the servo cylinder 1.

[0028] To sum up: the humanoid robot linear actuator places the semi-column 62 in the inner cavity of the circular hole 71, and then expands the semi-column 62 under the action of the spring sheet 63, and makes the inner cavity of the limit groove 64 buckle the surface of the limit block 72, and then fixes the heat dissipation device 4 and the limit ring 2, so as to achieve the purpose of heat dissipation at the output end, thereby extending the overall service life of the servo electric cylinder 1.

Claims

1. A humanoid robot linear actuator, characterized in that: The invention comprises a servo electric cylinder (1), a limiting ring (2) fixedly connected to the front end of the servo electric cylinder (1), a support ring (3) slidably connected to the front side of the limiting ring (2), a heat dissipation device (4) installed on the front side of the support ring (3), a through hole (5) provided on the surface of the heat dissipation device (4), a fixing component (6) provided on the surface of the support ring (3), and a limiting structure (7) provided on the surface of the limiting ring (2).

2. The humanoid robot linear actuator according to claim 1, characterized in that: The position of the limiting ring (2) is close to the output end of the servo electric cylinder (1), and the fixing component (6) includes a limiting cap (61) close to the surface of the through hole (5), and the inner cavity of the limiting cap (61) is rotatably connected to two half-columns (62).

3. The humanoid robot linear actuator according to claim 2, characterized in that: The two semi-columns (62) are both rotatably connected to the inner cavity of the through hole (5), a spring sheet (63) is fixedly connected between the two semi-columns (62), and a limiting groove (64) is provided on the opposite sides of the two semi-columns (62).

4. The humanoid robot linear actuator according to claim 3, characterized in that: The front end of the limiting cap (61) is fixedly connected to a hexagonal block (65), a limiting piece (66) is welded to the surface of the hexagonal block (65), and a positioning groove (67) is provided on the surface of the limiting piece (66).

5. The humanoid robot linear actuator according to claim 4, characterized in that: The limiting structure (7) comprises a circular hole (71) formed on the surface of the limiting ring (2), the circular hole (71) being aligned with the position of the through hole (5), limiting blocks (72) being welded on both the left and right sides of the inner cavity of the circular hole (71), and shrinkage blocks (73) being welded on both the upper and lower sides of the inner cavity of the circular hole (71).

6. The humanoid robot linear actuator according to claim 5, characterized in that: The combined diameter of the two semi-columns (62) is smaller than the distance between the two shrinkage blocks (73); the inner cavity of the limiting groove (64) is engaged with the surface of the limiting block (72); and the surface of the semi-column (62) is rotatably connected to the shrinkage block (73).

Images